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- # usb_cam remains the only process that opens /dev/video0. While this LED
- # recognizer runs at the sign point, it may switch the shared camera to the
- # manual LED profile below, then restore automatic exposure on shutdown.
- image_topic: /usb_cam/image_raw
- enabled: true
- model_path: ""
- classes: [left, right, straight, stop]
- input_size: 640
- object_threshold: 0.25
- nms_threshold: 0.45
- # Preserve red LED colour. Do not use the QR node's grayscale preprocessing.
- flip_horizontal: true
- # These are software-only adjustments made after subscribing to image_topic.
- # They never change /usb_cam/image_raw or the USB camera hardware controls.
- brightness: 0
- contrast: 1.0
- saturation: 1.0
- # Tested on the real LED sign: CLAHE brightens floor reflections and reduces
- # arrow contrast, so keep it disabled for both collection and NPU inference.
- lab_clahe: false
- clahe_clip_limit: 1.5
- clahe_tile_grid: [8, 8]
- gamma: 1.0
- # Hardware profile used only during LED-sign recognition. This affects the
- # shared camera image temporarily, so start this node only at the sign point.
- camera_profile_enabled: true
- camera_device: /dev/video0
- led_exposure_auto: 1
- led_exposure_auto_priority: 0
- led_exposure_absolute: 50
- led_white_balance_auto: true
- restore_camera_on_shutdown: true
- restore_exposure_auto: 3
- restore_exposure_auto_priority: 0
- restore_white_balance_auto: true
- restore_brightness: 0
- restore_contrast: 50
- restore_saturation: 50
- restore_gamma: 300
- # A direction is accepted only after four matching detections in five frames.
- stability_window: 5
- stable_count: 4
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